https://github.com/mkner/arduino-l298p-mobile-robot-motor-control

arduino-L298P-mobile-robot-motor-control
https://github.com/mkner/arduino-l298p-mobile-robot-motor-control

arduino differential-drive-robots l298p motor pwm-motor-controllers robotics tt-motors wheel-encoders wheel-odometry

Last synced: 17 days ago
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arduino-L298P-mobile-robot-motor-control

• Host: GitHub
• URL: https://github.com/mkner/arduino-l298p-mobile-robot-motor-control
• Owner: mkner
• License: bsd-2-clause
• Created: 2023-06-30T21:15:27.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2023-10-24T21:18:32.000Z (over 1 year ago)
• Last Synced: 2024-11-14T00:18:22.445Z (3 months ago)
• Topics: arduino, differential-drive-robots, l298p, motor, pwm-motor-controllers, robotics, tt-motors, wheel-encoders, wheel-odometry
• Language: C++
• Homepage:
• Size: 50.8 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
Functions for basic motor/wheel control of differential drive mobile robots\

using MotorShield L298P on Arduino UNO. Implemented in C/C++ 

   

 * low level controller/actuator functions for basic motor control

   

 * higher low-level commands using  rate, time, distance units for motion control

   

 * supports odometry using interrupt driven IR wheel encoder sensors & encoder wheels for TT-Motors

   

 * has an auto-prime function that can kick-start TT-Motors into rotation \

   when stalled and not enough current to escape resting inertia at low velocities

   

 * versatile functions with intuitive semantic interface

 * wheel odometry using Runge-Kutte approximation\

   with serial terminal output of runtime results from implementation of\

   ICR - Instananeous Center of Rotation - equations

       

  

Example from unicycle.c

Unicycle movements with a differential drive robot

Use the wheels function to create a unicycle function that limits the\

motion of the mobile robot to that of a unicycle

   

``` cpp

   unicycle(FORWARD, 25, 4000) // go forward at 25% for 4 seconds

   

   unicycle(SPIN_LEFT, 5, 2000) // spin (+) with rotational velocity (phi-dot) at 5% for 2 sec

   

   delay(4000)

   

   unicycle(FORWARD, 25) // move forward @ 25% continuously

   unicycle(STOP) //same as  wheels(STOP,2000)

   delay(2000) 

   

```